EP3297580A1 - Palm unit for artificial hand - Google Patents
Palm unit for artificial handInfo
- Publication number
- EP3297580A1 EP3297580A1 EP16720809.9A EP16720809A EP3297580A1 EP 3297580 A1 EP3297580 A1 EP 3297580A1 EP 16720809 A EP16720809 A EP 16720809A EP 3297580 A1 EP3297580 A1 EP 3297580A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- hydraulic
- palm unit
- pressure
- pump
- low
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y80/00—Products made by additive manufacturing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
- A61F2/748—Valve systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6845—Clutches
Definitions
- Hydraulically actuated hands have also been proposed, although to date no commercial product is known to exist.
- a hand design known as "Fluidhand” has been developed at the Düsseldorf Institute of Technology (KIT) as a prototype that has been tested in the Orthopaedic University Hospital in Heidelberg.
- KIT Düsseldorf Institute of Technology
- This hand uses miniature hydraulics within the fingers in an attempt to provide a large degree of freedom of movement (and hence dexterity) in an alternative manner to the commercial electromechanical hands.
- the "Fluidhand” is operated at a rather low pressure (9 to 10 bar) and this means that the gripping force is relatively low.
- Another disadvantage is the use of externally mounted hoses and couplings, which are vulnerable to damage and mean that the hand is not sufficiently robust for everyday use as a prosthetic. There is also a significant risk of leakage of the hydraulic fluid. Further proposals for the use of hydraulics are found in patent publications. US
- US 8951303 proposes the use of hydraulics along with a mechanical finger joint.
- the fingers are actuated by tendon cables in a way similar to some of the commercially available electromechanical prosthetic hands, and a pair of mesofluidic hydraulic pistons control movement of each finger joint.
- This system addresses some of the issues with fully hydraulic artificial hands, there are still problems that remain.
- the strength of the group that can be produced is constrained due to the nature of the hydraulic system, and the requirement for multiple hydraulic pistons for each finger results in a significant degree of complexity leading to costly production and a risk of leakage.
- WO 201 1/072750 describes a hand having mechanical tendon cable actuated fnger joints moved via a single hydraulic piston for each finger.
- WO 201 1/072750 proposes the use of two hydraulic pumps providing the possibility of high pressure and low pressure operation of the hydraulic elements.
- the lower pressure hydraulic pump is decoupled from the motor/hydraulics via a clutch and isolating valve in order to allow the high pressure hydraulic pump to control the finger movement.
- the system is arranged to do this automatically when the gripping pressure increases above the threshold.
- the present invention provides a palm unit for an artificial hand, the palm unit comprising: a palm unit body; a motor held by the palm unit body; a hydraulic pump assembly held by the palm unit body and comprising a low-pressure hydraulic pump and a high-pressure hydraulic pump, wherein both hydraulic pumps are powered simultaneously by the motor; and a hydraulic circuit held by the palm unit body and coupled to both hydraulic pumps, wherein the hydraulic circuit has a low-pressure configuration in which the discharge sides of both hydraulic pumps are coupled to one or more hydraulic actuator(s) for the artificial hand and a high-pressure configuration in which the discharge side of the low- pressure pump is isolated from the hydraulic actuator(s) and recirculates fluid to the suction side of the low pressure pump with the discharge side of the high-pressure pump remaining coupled to the hydraulic actuator(s), and wherein the hydraulic circuit is arranged to switch from the low- pressure configuration to the high-pressure configuration automatically during a closing grip pattern when the pressure in the system increases beyond a threshold value.
- the discharge side of the low-pressure pump is coupled to the discharge side of the high-pressure pump via a one-way valve permitting flow from the low-pressure pump toward the high-pressure pump and the discharge side of the low-pressure pump is coupled to the suction side of the low-pressure pump via the pressure controlled valve.
- the one-way valve may be able to be held open, for example to allow for reverse flow of fluid through the circuit during opening of the hand.
- the one-way valve may be an electromagnet controlled valve.
- the palm unit may include a controller such as a microprocessor for controlling the electromagnet controlled valve. This can be utilised to hold the valve open, for example when opening the hand requires reverse movement of hydraulic fluid through the circuit.
- the motor may be a variable speed motor. This allows the user to control the volume of fluid pumped by the hydraulic pumps with only a single sensor input, and hence the user can have complete control of the speed of operation of the hand without the need for multiple sensors and/or complicated microprocessor routines.
- the invention provides a palm unit for an artificial hand, the palm unit comprising: a palm unit body; a motor held by the palm unit body; a hydraulic pump assembly held by the palm unit body and comprising a low- pressure hydraulic pump and a high-pressure hydraulic pump, wherein both hydraulic pumps are powered simultaneously by the motor; and a hydraulic circuit held by the palm unit body and coupled to both hydraulic pumps, wherein the motor is a variable speed motor.
- a palm unit body comprising: a palm unit body; a motor held by the palm unit body; a hydraulic pump assembly held by the palm unit body and comprising a low- pressure hydraulic pump and a high-pressure hydraulic pump, wherein both hydraulic pumps are powered simultaneously by the motor; and a hydraulic circuit held by the palm unit body and coupled to both hydraulic pumps, wherein the motor is a variable speed motor.
- a reversible motor may be used, thereby permitting close control by the user of opening and closing of the hand by forward and reverse operation of the hydraulic pumps.
- the use of a reversible motor in conjunction with a hydraulic circuit having two operating pressures is also considered novel and inventive in its own right and hence, viewed from a third aspect, the invention provides a palm unit for an artificial hand, the palm unit comprising, a palm unit body; a motor held by the palm unit body; a hydraulic pump assembly held by the palm unit body and comprising a low-pressure hydraulic pump and a high-pressure hydraulic pump, wherein both hydraulic pumps are powered simultaneously by the motor; and a hydraulic circuit held by the palm unit body and coupled to both hydraulic pumps, wherein the motor is a reversible motor.
- the palm unit of this aspect may be combined with the features of that any of the other aspects as well as any of the optional and preferable features descnbed herein.
- the motor is both variable speed and reversible.
- each of the hydraulic actuators is linked to equalise the pressure in the hydraulic fluid within multiple actuators, preferably within all actuators. This allows for adaptive movement of individual fingers and the thumb, whereby the finger or thumb will stop when it meets resistance with other fingers or the thumb continuing to move until the grip is completed.
- the hydraulic actuators may be hydraulic cylinders.
- the high-pressure pump may be arranged to operate at relatively low volumes and the low-pressure pump may be arranged to operate at relatively high volumes. This enables a quick low strength movement and a slow high-strength movement, which mimics natural use of the hand when gripping an object.
- the hydraulic pump assembly may be formed as a single unit including both hydraulic pumps and being arranged to fit within a single chamber in the palm unit.
- This feature provides advantages in relation to the size and weight and it is considered novel and inventive in its own right and hence, viewed from a fifth aspect, the invention provides a palm unit for an artificial hand, the palm unit comprising: a palm unit body; a motor held by the palm unit body; a hydraulic pump assembly held by the palm unit body and comprising a low-pressure hydraulic pump and a high-pressure hydraulic pump, wherein both hydraulic pumps are powered simultaneously by the motor; and a hydraulic circuit held by the palm unit body and coupled to both hydraulic pumps, wherein the hydraulic pump assembly is a single unit including both the high-pressure and the low-pressure hydraulic pump, and this single unit is arranged to fit within a single chamber in the palm unit.
- the palm unit of this aspect may be combined with the features of that any of the other aspects as well as any of the optional and preferable features described herein.
- the hydraulic pump assembly may be arranged with a prismatic shape for fitting into a chamber in the palm unit with a corresponding prismatic shape.
- a preferred arrangement uses a cylindrical shape for ease of manufacture and ease of assembly, as well as in order to ensure that a good seal can be obtained.
- the pump assembly is sealed from the outside world within the palm unit.
- the pump assembly may include a seal, or a groove for holding a seal, at one end of the hydraulic pump assembly. This allows the entire hydraulic pump assembly to be accurately sealed within the chamber in the palm unit.
- the seal may for example be an O-ring type seal.
- the pump assembly includes a hydraulic axle seal for the shaft between the two pumps, but does not include any seals between pump plates of the pumps.
- both of the hydraulic pumps are actuated by a single drive shaft assembly powered by the motor.
- the invention provides a palm unit for an artificial hand, the palm unit comprising: a palm unit body; a motor held by the palm unit body; a hydraulic pump assembly held by the palm unit body and comprising a low-pressure hydraulic pump and a high-pressure hydraulic pump, wherein both hydraulic pumps are powered simultaneously by the motor; and a hydraulic circuit held by the palm unit body and coupled to both hydraulic pumps, wherein the hydraulic pump assembly includes a single drive shaft assembly for powering both the high- pressure and the low-pressure hydraulic pumps.
- the palm unit of this aspect may be combined with the features of that any of the other aspects as well as any of the optional and preferable features described herein.
- the pump assembly is assembled from a number of pump plates assembled together and held with bolts extending through the length of the pump assembly.
- the shaft also passes through the length of the pump assembly through the pump plates.
- the pump assembly may be generally cylindrical in form and it may be arranged to be inserted within a cylindrical chamber in the palm unit.
- the sealing between the pump and the outside world may be provide by an O-ring type seal or similar.
- the palm unit body may form a sealed enclosure for the hydraulic circuit and hydraulic pump assembly, thereby containing all hydraulic parts.
- the motor is also contained within the palm unit body.
- the palm unit body is preferably formed in a single piece and in a preferred example it is formed by 3-D printing. This construction for the palm unit is considered to be novel and inventive in its own right.
- the invention provides a palm unit for an artificial hand, the palm unit comprising: a palm unit body; a motor held by the palm unit body; a hydraulic pump assembly held by the palm unit body and powered by the motor; and a hydraulic circuit held by the palm unit body, wherein the palm unit body forms a sealed enclosure for all hydraulic parts including the hydraulic circuit and hydraulic pump assembly, and wherein the palm unit body is formed in a single piece, preferably by 3-D printing.
- the palm unit of this aspect may be combined with the features of that any of the other aspects as well as any of the optional and preferable features described herein.
- the pump assembly may comprise a low-pressure hydraulic pump and a high-pressure hydraulic pump, wherein both hydraulic pumps are powered simultaneously by the motor.
- all hydraulic connections for the hydraulic circuit prefferably be formed by channels within a single piece palm unit body. This includes connections between the hydraulic pumps and hydraulic actuator(s), as well as for the various valves mentioned above (if present). This arrangement is particularly effective when combined with 3-D printing since the use of 3-D printing allows a very complicated shape to be formed with numerous internal features. By retaining all hydraulic connections between the various parts within the palm unit body it becomes straightforward to fully seal all hydraulic elements and ensure that the hydraulic system is robust and not at risk of damage or leakage.
- the hydraulic circuit may include a locking valve in order to hold pressure within the hydraulic actuators when the motor has stopped.
- a locking valve in order to hold pressure within the hydraulic actuators when the motor has stopped.
- this can allow for the palm unit to maintain the fingers and thumb in a locked grip position without the need to run the motor continually.
- the palm unit is arranged to operate based on inputs from myoelectric sensors such as EMG sensors.
- the level of tension in the user's muscle is used to control motor speed, which means that a single sensor can provide a great degree of control of the grip from the hand. This can avoid the need for a complicated programmable microprocessor.
- the palm unit is arranged to operate based on inputs from two EMG sensors, one of which is actuated to open the hand and the other of which is actuated to close the hand.
- the palm unit may include a wrist connector.
- a quick connect type wrist connector In particular it is preferred to use a quick connect type wrist connector.
- An Otto Bock type quick connect may be used. Using this type of standard connector allows the hand to be easily tried out by existing users of prosthetic hands.
- the invention further extends to an artificial hand including a palm unit as described above along with artificial fingers and a thumb.
- the artificial hand may be a prosthetic hand and hence may include a cosmetic glove.
- the fingers and thumb could potentially be fully hydraulic, but for the reasons set out above this is considered to be a disadvantage. Consequently, it is preferred for the fingers and thumb to have mechanical joints arranged to be actuated by hydraulic actuators within the palm unit, but not including any hydraulic elements themselves. This combination of mechanical fingers and thumb with a hydraulic palm unit is considered to provide the optimum design for minimal size and weight. There are currently no commercially available hands that use a combination of hydraulic and mechanical elements in this way.
- the digits can be controlled for an adaptive grip with only a single actuator at the palm unit applying a single force to the digit mechanism.
- the force balancing mechanism adjusts the distribution of forces so that the other digit receives a greater proportion of the force supplied to the digit mechanism, and is therefore rotated relatively more. In this way it becomes possible to ensure that both digits move to come in contact with an object, even when the object is of an irregular shape, for example to close the digits around an object when an artificial hand using the digits is gripping the object.
- the mechanism may be set with a default pattern of movement when there is no resistance to rotation of the digits, for example in order to close the hand using the digit mechanism into a pincer grip, and when the first digit comes into contact with an object to be gripped or with another source of resistance to movement then the proportion of force supplied to that digit is reduced compared to the amount of force supplied to the remaining digit, thereby ensuring that both digits will close against the resistance to movement with generally equal pressure.
- This ensures that a firm grip can be achieved in a similar way to a natural hand, with the digit mechanism making use of all of the digits to form the grip. It also means that the user can very easily "shape" an artificial hand into a required grip pattern or pose by selectively resisting the motion of different digits using the above digit mechanism.
- the term upper digit references a digit of the artificial finger or thumb closer to its distal end, i.e. closer to the tip of the finger or thumb
- the term lower digit references a digit of the finger or thumb at the proximal end, i.e. closest to the palm.
- the terms upper and lower are used in a similar way below to refer to other parts of the mechanism.
- the digit mechanism may form the basis for a finger or a thumb of the artificial hand.
- a lower digit a first upper digit rotatably coupled to the lower digit at a lower end of the first upper digit, and a second upper digit rotatably coupled to an upper end of the first upper digit, with an additional rotation device for applying a moment to the additional upper digit and an additional a lower pulley as described above, a first upper pulley interacting with the lower pulley and a first clutch mechanism provided at the lower pulley as described above, and also a second clutch mechanism at the first upper pulley interacting with a second upper pulley and other repeated elements to create a further system for adaptive movement of the second upper digit.
- This allows for movement of three digits as with a natural finger and thereby may allow for an even more natural adaptive finger movement.
- the first option is used in an example embodiment described herein.
- the typical geometry required for an artificial hand that follows the aesthetics of the human hand then there is more space available for installation of mechanisms at the proximal end, and since in general a more complex mechanism is required to adjust the amount of force applied to rotate a digit than to react to the amount of force that resists rotation of digit then an arrangement using the lower digit as the controlled digit can more easily be designed without adverse impact on the aesthetics of the artificial hand. There is hence a slight advantage to arranging the mechanism in that way.
- the force balancing mechanism may include a clutch for transmission of a varying amount of power for rotation of the controlled digit with the clutch being controlled to adjust the varying amount of power in accordance with the degree of resistance to motion of the controlling digit.
- the use of a clutch in this way allows for an effective control of the proportion of power used to move one digit as compared to the other.
- the force balancing mechanism may include a clutch controller, preferably a mechanical device that is moved in accordance with the magnitude of the resistance to movement of the controlling digit.
- the dutch controller may be moved by a force of this type.
- the digit rotation mechanism for the controlling digit is actuated by a cable, such that increased resistance to rotation of the digit will increase the tension in the cable.
- the dutch controller may include a mechanical device that is moved in accordance with the tension in the cable, such as a lever that the cable passes over in a V-shape. With this arrangement tension in the cable will tend to pull the lever, allowing the lever to be moved in accordance with the magnitude of the resistance to movement of the controlling digit.
- Other mechanisms would of course be possible.
- the clutch may be any mechanism able to control the amount of power used for rotation of the controlled digit in comparison to the amount of power used for rotation of the controlling digit. It is preferred for the clutch to include an adjustment/calibration mechanism so that it can be effectively set up to achieve the required balance in forces, for example to ensure a pincer type grip when there is no resistance to motion as described above. A person skilled in the art will appreciate that there are numerous ways that such clutch could be implemented. In a preferred embodiment a band brake is used. This has been found to provide a lightweight and easily miniaturisable clutch, and these are important advantages for an artificial hand where, as discussed above, the size and weight are significant.
- the digit rotation mechanisms for the upper and lower digit may include pulley and cable systems.
- One possibility includes a main cable for receiving a tension force from an actuator in the palm unit and for transferring this to a lower pulley about which the lower digit is arranged to rotate; and a secondary cable also coupled to the lower pulley and arranged to transfer a rotating movement of the lower pulley to an upper pulley about which the upper digit is arranged to rotate.
- the main cable and the secondary cable could be formed as a single cable wrapped around the lower pulley or otherwise attached thereto.
- the force balancing mechanism may be arranged either to adjust the amount of force transferred between the upper pulley and upper digit in
- the tension in the main cable and the secondary cable may be linked by their connection to the lower pulley, and the upper pulley may be coupled to and rotate with the upper digit, i.e. so that the upper digit has the same degree of rotation as the upper pulley and is actuated by rotation of the upper pulley, with the lower pulley coupled to the lower digit with a clutch of the force balancing mechanism for partial transfer of the rotation force from the lower pulley to the lower digit.
- the clutch may be as described above.
- a lever as a clutch controller, with the secondary cable passing over the lever in a V shape between the lower pulley and upper pulley, such that increased resistance to movement of the upper digit will increase the tension in the secondary cable and pull the lever to increase the force transferred between the lower pulley and the lower digit by the clutch.
- the force balancing mechanism may include a band brake as the clutch in this case, with the band brake being arranged to control the amount of force transferred between the lower pulley and the lower digit; and the lever acting to tighten the band brake.
- the band brake and lower pulley can be accommodated in a relatively large "knuckle" at the lower end of the lower digit, with the lever and the V-shaped cable being placed within the lower digit extending toward the upper pulley, which is accommodated in a relatively small "knuckle” where the lower digit and upper digit join each other.
- the digit mechanism can include these features without needing to be oversized compared to a normal artificial hand, i.e. whilst being able to generally match the size of the digits of the patient's natural hand.
- the digits may include housing elements formed as hollow digit-like shapes.
- a preferred example uses 3-D printed metal alloy, for example 3-D printed titanium, in order to form the digits. This provides the required structural strength whilst also allowing for complex shapes which minimise the need for additional machining when manufacturing the digit mechanism and fitting the various mechanical parts together.
- the digit mechanism includes an attachment point for a spring that, in use, urges the digit towards the open position.
- the spring may be mounted between the attachment point and a corresponding attachment point on the palm unit of the artificial hand.
- the spring allows for the digits to be resiliently pushed toward the closed position, returning to the open position when any forces are released.
- the digits can hence be arranged to freely close in relation to an impact or other outside force, and to then return to the open position (or to a position set by the relevant actuator) when the outside force is removed.
- the lower digit may include a pivot arrangement for mounting to a bracket on a palm unit of the artificial hand, and preferably the pivot arrangement is formed along the same axis of rotation as elements of the lower digit rotation mechanism, for example the lower pulley and clutch as described above.
- the digit mechanism may be mounted to the palm unit via coupling of the pivot arrangement to a bracket on the palm unit.
- multiple digit mechanisms for the fingers may be mounted to brackets that are aligned along the same axis of rotation, thereby allowing a single pin or shaft to secure all of the fingers to the palm unit.
- aspects of the invention include methods for manufacture of a palm unit as described above in any of the aspects or preferred/optional features thereof, the method comprising using 3-D printing to form the palm unit body, preferably as a single piece.
- the invention further extends to 3-D printing source files, and computer media including those source files, the 3-D printing source files containing instructions that, when executed will configure a 3-D printing apparatus to form the palm unit body of a palm unit as described above in any of the aspects or preferred/optional features thereof.
- Figure 1 shows a design for a prosthetic hand in perspective view with the cosmetic glove removed and one finger shown partially transparent so that internal detail can be seen;
- Figure 3 shows a finger mechanism in more detail illustrating a clutch system for producing adaptive movement with the finger joints
- FIG. 4 is a schematic diagram showing the basic principles of operation of the clutch system
- Figure 6 is a partial cross-section through the palm unit showing the high and low pressure hydraulic pump and equaliser adjacent to the hydraulic cylinder for the thumb:
- Figure 7 shows a similar cross-section to Figure 6, from a different angle, with the hydraulic pump assembly removed so that the hydraulic pump pressure and suction channels can be seen;
- Figure 8 is a perspective view of a hydraulic subassembly of the palm unit with the finger joints at the upper part and the thumb joint at the lower part and also showing the location of an emergency hydraulic valve;
- FIG. 9 shows the emergency valve in more detail with the outer part of the hydraulic subassembly shown transparent for clarity;
- Figure 10 is a hydraulic schematic
- Figures 1 1 and 12 show a cross-section and perspective view of a hydraulic cylinder for the index and middle fingers
- Figures 13 and 14 shows similar views for a hydraulic cylinder for the thumb
- Figures 15 and 16 show the emergency valve in cross-section and perspective view;
- Figure 17 and 18 show more detail of an equaliser that is seen in situ in Figure 5 and Figure 6;
- Figures 19 and 20 show a cross-section and perspective view for the high and low pressure hydraulic pumps, which again are already seen in situ in Figure 5 and Figure 6;
- Figures 21 and 22 show a cross-section and perspective view for a pressure controlled valve that redirect the oil flow to switch from low-pressure to high pressure operation;
- Figures 23 and 24 are a cross-section and perspective view of a design for an electromagnet controlled valve used within the hydraulic circuit
- Figure 25 shows a 3-D printed body section for the hydraulic subassembly shown in Figure 8.
- Figure 26 shows a cutaway view of the body section illustrating some of the hydraulic connections.
- the drawings show a prosthetic hand and various features of the mechanisms used to produce finger and thumb movements for this prosthetic hand. It will however be appreciated that the same mechanisms could equally well be used in artificial hands for other purposes, for example for remote handling or in robotic applications.
- the arrangement of the finger joint as described herein would provide advantages when used with alternative driving mechanisms and not just the hydraulic driving mechanism with the particular arrangement of the current palm unit, and similarly the palm unit and/or hydraulic circuit described herein would provide advantages when used with an alternative arrangement for the finger and thumb mechanisms.
- Figure 1 shows a perspective view for a prosthetic hand including a palm unit 12 a thumb mechanism 14, an index finger mechanism 16, a middle finger mechanism 18 and a combined ring finger/little finger mechanism 20.
- Figure 2 shows a partial cutaway view with a slice taken along the line of the thumb 14 and between the index finger 16 and middle finger 18.
- the hand is provided with a standard quick connect Otto Bock design wrist joint 22 that allows for coupling with batteries and one or two electromyocardiographic (E G) sensors, which would typically be mounted inside the user's underarm. It would of course be possible to adapt the hand to use an alternative wrist connection system if required.
- the coupling for the wrist joint 22 is 3-D printed.
- the use of a standard quick connect system 22 makes it possible for an existing electric hand prosthetic user to try this hand very easily.
- the index finger mechanism 16 and the middle finger mechanism 18 are very similar and differ generally only in relation to the size of the fingers.
- the thumb mechanism 14 is similar to the finger mechanisms 16, 18 with the addition of a pulley/guide 24 directing the main cable 34 about an angle to allow for the thumb 14 to open at 90° to the fingers 16, 18, 20, and of course with some changes in size and dimensions so as to accurately mimic typical dimensions for a thumb.
- the ring finger/little finger mechanism 20 is resiliently coupled to and effectively slaved with the mechanism for the first digit of the middle finger mechanism 18.
- a coiled spring is used, and this is advantageously fitted with a bushing allowing for a sprung movement of the little and ring fingers whilst opening, within limits, and a free movement (resisted by the spring, but without any restriction on the extent of movement) in the closing direction.
- Microprocessor control electronics and software are provided to interpret the signals from the user's EMG sensors. These electronics are mounted behind the quick connect 22 inside the palm unit 12, i.e. within the right hand side of the palm unit 12 when viewed in the orientation of Figure 2. It is important to understand that this hand design can operate with just a single sensor input if necessary, and based solely on the "strength" of this signal it is possible to achieve a very adaptable grip controlled by the user, as explained in more detail below.
- the use of a second EMG sensor is preferred since it allows for a more intuitive action of the user in releasing the grip of the device: one sensor can be used to control closing of the hand, and the other sensor will control opening of the hand.
- FIGs 1 and 2 further detail of the basic parts of the palm unit 12 can be seen including the belt 28 that couples the motor 68 to the hydraulic pumps (shown in further detail in Figure 5 and Figure 6 amongst others); finger return springs 30, which are connected at the base of the finger joints and urge the hand toward an open configuration; finger piston couplings 32, which join the finger main cables 34 to the finger hydraulic cylinders 36; the finger hydraulic cylinder 36 for the middle finger mechanism 18 (in cross-section in Figure 2); the thumb hydraulic cylinder 38 (again in cross-section in Figure 2) and thumb piston coupling 40: and the thumb return spring 42.
- the belt 28 that couples the motor 68 to the hydraulic pumps (shown in further detail in Figure 5 and Figure 6 amongst others); finger return springs 30, which are connected at the base of the finger joints and urge the hand toward an open configuration; finger piston couplings 32, which join the finger main cables 34 to the finger hydraulic cylinders 36; the finger hydraulic cylinder 36 for the middle finger mechanism 18 (in cross-section in Figure 2); the thumb hydraulic cylinder 38
- Figures 3 and 4 show a finger mechanism in greater detail
- the same basic functional parts are used for both the index finger mechanism 16 and middle finger mechanism 18, as well as also for the thumb mechanism 14, with appropriate adjustments to achieve the required difference in size for the different fingers and the thumb.
- references to the fingers and finger joints can be taken to apply equally well to the thumb and thumb joints.
- the upper digit is the digit of the finger or thumb at the distal end, i.e. closest to the fingertip
- the lower digit is the digit of the finger or thumb at the proximal end, i.e. closest to the palm
- the terms upper and lower are used in the same way to refer to other parts of the mechanism.
- This example uses two digits for each of the index finger and middle finger mechanisms 16, 18 and for the thumb mechanism 14. It would be possible to expand to have three digits by repeating the mechanism described below for a third joint of the finger and to thereby obtain an even more natural finger movement. However, this is considered to add additional complexity without any significant benefit in relation to usability and the grip patterns that can be achieved.
- Figure 3 shows detail of a finger joint with the outer housing shown transparent so that the internal mechanism can be understood.
- Figure 4 shows a part of the mechanism in schematic form, with equivalent parts given the same reference numbers.
- a lower digit 44 is connected to the palm unit 12 (not shown in these Figures) via a pivot along a lower axis of rotation 46.
- the finger return spring 30 is positioned so as to urge the lower digit 44 back towards the open position, rotating it around the lower axis of rotation 46.
- At the distal end of the lower digit 44 and upper digit 48 is connected and can rotate relative to the lower digit 44 via a pivot along an upper axis of rotation 50.
- the finger main cable 34 is attached to a lower pulley 52 placed on the lower axis of rotation 46 and tension on the finger main cable 34 will rotate the lower pulley 52 in order to rotate the finger towards a closed position, with an adaptive grip as discussed below. In the view in Figures 3 and 4 shown this rotation would be in an anticlockwise direction.
- the upper pulley 56 is mounted on the upper axis of rotation 50 and arranged such that rotation of the upper pulley will rotate the upper digit 48, pulling it toward the closed position (again, an anticlockwise rotation in the orientation shown in the Figures).
- the current joint design uses a brake/clutch arrangement 58 to transfer rotational forces from the lower pulley 52 to the lower joint 44 in accordance with the tension in the secondary cable 54.
- the brake/clutch arrangement 58 allows for a degree of slipping in the system, so that either one digit can rotate whilst the other digit has stopped moving.
- the strength of the forces applied via brake/clutch arrangement 58 varies dependent on the balance of forces on the digits.
- the brake/clutch arrangement 58 is a band brake. It will, however, be apparent that this band brake could be replaced by alternative designs for a brake/clutch arrangement 58, such as a system using clutch plates.
- the brake/clutch arrangement 58 is coupled to a torque balancing mechanism 60 that arranged so that as the tension in the secondary cable 54 increases then the brake/clutch arrangement 58 transfers increased forces between the lower pulley 52 and the lower digit 44.
- the torque balancing mechanism 60 comprises a lever arm 62 attached to a pivot 64 that is fixed relative to the lower axis of rotation 46 and fixed relative to the main body of the lower digit 44. This is shown schematically in Figure 4.
- the end of the lever arm 62 presses against the secondary cable 54, with the secondary cable 54 going through a change in direction around a guide surface at the end of the lever arm 62, such that tension in the secondary cable 54 will generate a force pushing the end of the lever arm 62.
- the first finger or thumb to meet the object will cease moving and the hydraulic interconnection means that fluid will continue, without an increase in hydraulic pressure, to move the digits of the other finger(s) and/or the thumb until all digits of all the finger and thumb mechanisms are meeting similar resistance, at which point the hydraulic pressure will increase and the strength of grip of the whole hand increases.
- movement of the fingers is controlled via one or two EMG sensors controlling a variable speed motor that drives the hydraulic pumps of the system.
- the hydraulic circuit and its interaction with the variable speed motor are explained in more detail below.
- the user In relation to the grip from each finger, what is important is that the user can choose when to close the hand and when to open the hand, and the digits in each finger will grip adaptively as explained above. Therefore, the user is able to stop movement in order to acquire the desired grip, and the user can also place the hand against an object or use their other hand in order to resist movement of the fingers/thumb and therefore close the hand with the fingers and thumb in a required pattern.
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19188630.8A EP3590476A1 (en) | 2015-04-30 | 2016-04-29 | Palm unit for artificial hand |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1507394.3A GB2537898B (en) | 2015-04-30 | 2015-04-30 | Palm unit for artificial hand |
PCT/EP2016/059679 WO2016174242A1 (en) | 2015-04-30 | 2016-04-29 | Palm unit for artificial hand |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19188630.8A Division-Into EP3590476A1 (en) | 2015-04-30 | 2016-04-29 | Palm unit for artificial hand |
EP19188630.8A Division EP3590476A1 (en) | 2015-04-30 | 2016-04-29 | Palm unit for artificial hand |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3297580A1 true EP3297580A1 (en) | 2018-03-28 |
EP3297580B1 EP3297580B1 (en) | 2019-09-04 |
Family
ID=53488929
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16720809.9A Active EP3297580B1 (en) | 2015-04-30 | 2016-04-29 | Palm unit for artificial hand |
EP19188630.8A Withdrawn EP3590476A1 (en) | 2015-04-30 | 2016-04-29 | Palm unit for artificial hand |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19188630.8A Withdrawn EP3590476A1 (en) | 2015-04-30 | 2016-04-29 | Palm unit for artificial hand |
Country Status (6)
Country | Link |
---|---|
US (1) | US10588758B2 (en) |
EP (2) | EP3297580B1 (en) |
JP (1) | JP6752820B2 (en) |
CA (1) | CA2983226A1 (en) |
GB (2) | GB2537898B (en) |
WO (1) | WO2016174242A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3693152A1 (en) * | 2019-02-06 | 2020-08-12 | Hochschule Offenburg | Method for producing a robotic element, in particular a gripper, by means of 3d printing |
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WO2015120083A1 (en) | 2014-02-04 | 2015-08-13 | Rehabilitation Institute Of Chicago | Modular and lightweight myoelectric prosthesis components and related methods |
FR3061057B1 (en) * | 2016-12-28 | 2020-01-31 | Push4M | MOTORIZATION ASSEMBLY CAPABLE OF DEPLOYING A TRACTION FORCE, IMPLEMENTATION OF THE ASSEMBLY FOR THE MOTORIZATION OF AN ARTICULATED ARM AND ASSOCIATED METHOD |
GB2566310B (en) * | 2017-09-08 | 2022-03-02 | Blatchford Products Ltd | Prosthesis and Orthosis |
JP7078926B2 (en) | 2018-02-08 | 2022-06-01 | 独立行政法人国立高等専門学校機構 | Active prosthesis |
IT201800005213A1 (en) | 2018-05-09 | 2019-11-09 | UNDERACTED PROSTHETIC HAND | |
GB2577499B (en) * | 2018-09-25 | 2020-11-18 | Covvi Ltd | A mechanical hand |
GB2591068A (en) * | 2019-06-26 | 2021-07-21 | Hy5Pro As | Palm unit for an artificial hand |
WO2020260507A1 (en) | 2019-06-26 | 2020-12-30 | Hy5Pro As | Method of controlling an artificial hand |
US11564815B2 (en) | 2019-09-17 | 2023-01-31 | Victoria Hand Project | Upper arm prosthetic apparatus and systems |
USD1030906S1 (en) * | 2019-10-22 | 2024-06-11 | Smartivity Labs Pvt. Ltd. | Hand toy |
CN111152254B (en) * | 2020-01-09 | 2021-04-20 | 江南大学 | Flexible shaft-driven rigid-flexible coupling finger four-finger under-actuated manipulator |
US11957606B2 (en) | 2020-10-29 | 2024-04-16 | Victoria Hand Project | Low-cost prosthetic apparatus, methods, kits, and systems with improved force transfer elements |
US11325264B1 (en) * | 2020-11-12 | 2022-05-10 | Ubtech North America Research And Development Center Corp | Tendon-driven robotic hand |
CN113183150B (en) * | 2021-04-09 | 2023-05-02 | 周先军 | Bionic hand control optimization method and system and electronic equipment |
KR20230020291A (en) | 2021-08-03 | 2023-02-10 | 현대자동차주식회사 | Robot hand module |
KR20230020288A (en) | 2021-08-03 | 2023-02-10 | 현대자동차주식회사 | Robot hand module |
CN113696213B (en) * | 2021-09-18 | 2022-03-01 | 安徽理工大学 | Mechanical arm |
IT202100027836A1 (en) * | 2021-10-29 | 2023-04-29 | Fondazione St Italiano Tecnologia | ANATOMICAL PROSTHESIS WITH INDEPENDENT DRIVE MECHANISM OF THE FINGERS |
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US20070198098A1 (en) * | 2006-02-17 | 2007-08-23 | Roston Gerald P | Fluid-powered prosthetic apparatus |
WO2010018358A2 (en) * | 2008-08-11 | 2010-02-18 | Rslsteeper Group Limited | A device resembling a part of the human body which is able to be actuated |
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US8951303B2 (en) | 2012-06-11 | 2015-02-10 | Ut-Battelle, Llc | Freeform fluidics |
JP2014184027A (en) | 2013-03-25 | 2014-10-02 | Seiko Epson Corp | Finger assist device |
DE102013007539A1 (en) | 2013-05-03 | 2014-11-06 | Otto Bock Healthcare Products Gmbh | Artificial finger |
-
2015
- 2015-04-30 GB GB1507394.3A patent/GB2537898B/en not_active Expired - Fee Related
- 2015-04-30 GB GB1800637.9A patent/GB2560420B/en not_active Expired - Fee Related
-
2016
- 2016-04-29 EP EP16720809.9A patent/EP3297580B1/en active Active
- 2016-04-29 CA CA2983226A patent/CA2983226A1/en not_active Abandoned
- 2016-04-29 WO PCT/EP2016/059679 patent/WO2016174242A1/en active Application Filing
- 2016-04-29 US US15/570,235 patent/US10588758B2/en not_active Expired - Fee Related
- 2016-04-29 JP JP2017557121A patent/JP6752820B2/en not_active Expired - Fee Related
- 2016-04-29 EP EP19188630.8A patent/EP3590476A1/en not_active Withdrawn
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3693152A1 (en) * | 2019-02-06 | 2020-08-12 | Hochschule Offenburg | Method for producing a robotic element, in particular a gripper, by means of 3d printing |
Also Published As
Publication number | Publication date |
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GB201507394D0 (en) | 2015-06-17 |
GB2537898B (en) | 2018-02-21 |
WO2016174242A1 (en) | 2016-11-03 |
US20180133028A1 (en) | 2018-05-17 |
US10588758B2 (en) | 2020-03-17 |
GB2560420B (en) | 2019-04-24 |
JP6752820B2 (en) | 2020-09-09 |
GB2560420A (en) | 2018-09-12 |
GB2537898A (en) | 2016-11-02 |
JP2018519868A (en) | 2018-07-26 |
GB201800637D0 (en) | 2018-02-28 |
CA2983226A1 (en) | 2016-11-03 |
EP3297580B1 (en) | 2019-09-04 |
EP3590476A1 (en) | 2020-01-08 |
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